摘  要：针对线绳式力觉交互设备在自由空间中运行时，存在操作者指尖所受阻力较大和设备线绳松弛等问题，建立了不同运动状态下的动态数学模型，并分析不同状态下影响线绳张紧力大小的因素，提出电流电压混合控制的方式。实验结果表明，该控制方式可以在设备末端不同的运动状态下，保持线绳较小、稳定的张紧力，使操作者感受较小阻力的同时，实现设备对指尖位置的实时跟踪。
关键词：虚拟现实；力交互；混合控制；张紧力

Abstract: When string-based haptic device operated in free space, operator will sense great resistance and string may loose. In order to solve these problems, dynamic models of device were established and analyzed. Then according to analysis on creating of string tension when device works in different states, current-voltage hybrid control method was proposed. Experiment results show that this method makes the string keep small and stable tension, realizing tracking fingertip position in real time and making operator sense small resistance in free space, even though the end effecter moves fast forwards or backwards. 
Key words: virtual reality; haptic interaction; hybrid control; tension